soundd/micd: increase stream buffer size (#30685)

* increase buffer

* update cpu refs

* go to 100ms

* correct spot

selfdrive/test/test_onroad.py

@@ -46,13 +46,13 @@ PROCS = {
   "selfdrive.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
-  "selfdrive.ui.soundd": 5.8,
+  "selfdrive.ui.soundd": 3.5,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 1.54,
   "system.logmessaged": 0.2,
   "selfdrive.tombstoned": 0,
   "./logcatd": 0,
-  "system.micd": 10.0,
+  "system.micd": 6.0,
   "system.timezoned": 0,
   "selfdrive.boardd.pandad": 0,
   "selfdrive.statsd": 0.4,

selfdrive/ui/soundd.py

@@ -16,6 +16,7 @@ from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
 
 SAMPLE_RATE = 48000
+SAMPLE_BUFFER = 4096 # (approx 100ms)
 MAX_VOLUME = 1.0
 MIN_VOLUME = 0.1
 CONTROLS_TIMEOUT = 5 # 5 seconds
@@ -133,11 +134,11 @@ class Soundd:
     if TICI:
       micd.wait_for_devices(sd) # wait for alsa to be initialized on device
 
-    with sd.OutputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream:
+    with sd.OutputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER) as stream:
       rk = Ratekeeper(20)
       sm = messaging.SubMaster(['controlsState', 'microphone'])
 
-      cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}")
+      cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
       while True:
         sm.update(0)
 

system/micd.py

@@ -11,6 +11,7 @@ RATE = 10
 FFT_SAMPLES = 4096
 REFERENCE_SPL = 2e-5  # newtons/m^2
 SAMPLE_RATE = 44100
+SAMPLE_BUFFER = 4096 # (approx 100ms)
 
 
 @retry(attempts=7, delay=3)
@@ -98,8 +99,8 @@ class Mic:
     if TICI:
       wait_for_devices(sd) # wait for alsa to be initialized on device
 
-    with sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback)  as stream:
-      cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}")
+    with sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER) as stream:
+      cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
       while True:
         self.update()